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ardupilot/libraries/SITL
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Peter Barker fcd00f65e9 SITL: fix balancebot yaw reset to be kinimatically consistent 
... or at least closer to it.

We were hard-resetting the yaw to zero when the vehicle was upright.  That makes for huge simulated gyro rates, and that means the differences between the gyros can be huge sample-to-sample, so we can get gyros-inconsistent errors.

Fix things so we don't reset yaw at the same time as pitch, and also twist the vehicle to point North again when disarmed.
Backport of PR https://github.com/ArduPilot/ardupilot/pull/25046
 		2023-10-13 16:40:51 +11:00
..
examples SITL: Remove support for reading gyro data from file for SIM on Hardware build 2023-02-21 16:48:43 +11:00
tests SITL: tests: only build on sitl 2022-04-26 10:26:29 +10:00
tools
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SIM_ADSB.cpp SITL: make SITL::ADSB a SITL::SerialDevice 2021-11-23 11:09:29 +11:00
SIM_ADSB.h SITL: make SITL::ADSB a SITL::SerialDevice 2021-11-23 11:09:29 +11:00
SIM_AIS.cpp SITL: provide HAL_x_ENABLED for many SITL features 2021-10-12 09:04:55 +11:00
SIM_AIS.h SITL: provide HAL_x_ENABLED for many SITL features 2021-10-12 09:04:55 +11:00
SIM_AIS_data.txt SITL: add SIM_AIS 2021-08-10 08:11:18 +09:00
SIM_AirSim.cpp SITL: remove unneeded circular rangfinder include 2022-10-11 10:50:13 +11:00
SIM_AirSim.h SITL: provide HAL_x_ENABLED for many SITL features 2021-10-12 09:04:55 +11:00
SIM_Aircraft.cpp SITL: new XPlane backend 2023-01-31 11:22:08 +11:00
SIM_Aircraft.h SITL: new XPlane backend 2023-01-31 11:22:08 +11:00
SIM_Airspeed_DLVR.cpp SITL: make C_TO_KELVIN a function macro; create KELVIN_TO_C 2022-01-13 18:31:46 +11:00
SIM_Airspeed_DLVR.h
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SIM_BalanceBot.cpp SITL: fix balancebot yaw reset to be kinimatically consistent 2023-10-13 16:40:51 +11:00
SIM_BalanceBot.h
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SIM_Balloon.cpp
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SIM_Balloon.h
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SIM_BattMonitor_SMBus.cpp SITL: SIM_BattMonitor_SMBus add registers to smartbatts 2022-05-02 10:56:39 +10:00
SIM_BattMonitor_SMBus.h SITL: SIM_BattMonitor_SMBus add registers to smartbatts 2022-05-02 10:56:39 +10:00
SIM_BattMonitor_SMBus_Generic.cpp SITL: SIM_BattMonitor_SMBus add registers to smartbatts 2022-05-02 10:56:39 +10:00
SIM_BattMonitor_SMBus_Generic.h SITL: SIM_BattMonitor_SMBus add registers to smartbatts 2022-05-02 10:56:39 +10:00
SIM_BattMonitor_SMBus_Maxell.cpp SITL: SIM_BattMonitor_SMBus add registers to smartbatts 2022-05-02 10:56:39 +10:00
SIM_BattMonitor_SMBus_Maxell.h SITL: add maxell to i2c bus and make it 14-cells 2021-06-15 09:46:26 +10:00
SIM_BattMonitor_SMBus_Rotoye.cpp SITL: SIM_BattMonitor_SMBus add registers to smartbatts 2022-05-02 10:56:39 +10:00
SIM_BattMonitor_SMBus_Rotoye.h SITL: SIM_Rotoye update TEMP_EXT Register 2022-09-20 15:24:10 +10:00
SIM_Battery.cpp
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SIM_Battery.h
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SIM_Blimp.cpp SITL: permit double-precision maths in SITL even on embedded hardware 2022-03-17 14:39:55 +11:00
SIM_Blimp.h SITL: Blimp SITL add initial dynamics 2021-09-18 08:26:23 +10:00
SIM_Buzzer.cpp SITL: SIM_Buzzer: hide params if not WITH_SITL_TONEALARM 2022-08-02 10:49:11 +10:00
SIM_Buzzer.h SITL: Change build errors 2022-03-08 14:37:21 -08:00
SIM_CRRCSim.cpp SITL: provide HAL_x_ENABLED for many SITL features 2021-10-12 09:04:55 +11:00
SIM_CRRCSim.h SITL: provide HAL_x_ENABLED for many SITL features 2021-10-12 09:04:55 +11:00
SIM_CRSF.cpp SITL : Update Telemetry 2022-01-17 11:26:34 +09:00
SIM_CRSF.h SITL: add compilation option AP_SIM_CRSF_ENABLED 2022-01-15 21:56:33 +11:00
SIM_Calibration.cpp
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SIM_Calibration.h
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SIM_EFI_MegaSquirt.cpp SITL: move simulated megasquirt to SerialDevice framework 2021-10-17 10:00:08 +11:00
SIM_EFI_MegaSquirt.h SITL: nuke clang warnings 2022-03-03 16:34:14 +11:00
SIM_FETtecOneWireESC.cpp SITL: avoid use of stderr/::fprintf 2021-10-12 09:00:17 +11:00
SIM_FETtecOneWireESC.h SITL: Fix multi #include's 2021-12-21 10:38:46 +11:00
SIM_FlightAxis.cpp SITL: fixed RealFlight RPM 2023-02-04 13:33:47 -05:00
SIM_FlightAxis.h SITL: cope better with timing glitches in RealFlight 2022-11-07 21:22:43 +11:00
SIM_Frame.cpp SITL: new XPlane backend 2023-01-31 11:22:08 +11:00
SIM_Frame.h SITL: new XPlane backend 2023-01-31 11:22:08 +11:00
SIM_Frsky.cpp SITL : Update Telemetry 2022-01-17 11:26:34 +09:00
SIM_Frsky.h
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SIM_Frsky_D.cpp SITL : Update Telemetry 2022-01-17 11:26:34 +09:00
SIM_Frsky_D.h
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SIM_GPS.cpp SITL: new XPlane backend 2023-01-31 11:22:08 +11:00
SIM_GPS.h SITL: stop cygwin from trying to create FIFOs 2023-02-15 09:05:59 -08:00
SIM_Gazebo.cpp SITL: tidy includes 2022-05-03 09:14:58 +10:00
SIM_Gazebo.h SITL: provide HAL_x_ENABLED for many SITL features 2021-10-12 09:04:55 +11:00
SIM_Gimbal.cpp SITL: correct use of uninitialised stack data in SIM_Gimbal 2023-03-06 14:18:59 +11:00
SIM_Gimbal.h SITL: provide HAL_x_ENABLED for many SITL features 2021-10-12 09:04:55 +11:00
SIM_Gripper_EPM.cpp SITL: avoid use of stderr/::fprintf 2021-10-12 09:00:17 +11:00
SIM_Gripper_EPM.h
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SIM_Gripper_Servo.cpp SITL: avoid use of stderr/::fprintf 2021-10-12 09:00:17 +11:00
SIM_Gripper_Servo.h
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SIM_Helicopter.cpp SITL: improved dual heli model 2023-02-13 18:32:37 -05:00
SIM_Helicopter.h SITL: improved dual heli model 2023-02-13 18:32:37 -05:00
SIM_I2C.cpp SITL: SIM_BattMonitor_SMBus add registers to smartbatts 2022-05-02 10:56:39 +10:00
SIM_I2C.h
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SIM_I2CDevice.cpp SITL: add simulated MCP9600 2021-10-19 08:15:00 +11:00
SIM_I2CDevice.h SITL: add simulated MCP9600 2021-10-19 08:15:00 +11:00
SIM_ICEngine.cpp SITL: add tests for ICE Planes 2022-07-01 19:33:51 +10:00
SIM_ICEngine.h SITL: add tests for ICE Planes 2022-07-01 19:33:51 +10:00
SIM_ICM40609.h
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SIM_IntelligentEnergy.cpp
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SIM_IntelligentEnergy.h
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SIM_IntelligentEnergy24.cpp SITL: improve IE24 simulated tank pressure 2023-03-11 11:50:20 +11:00
SIM_IntelligentEnergy24.h SITL: improve IE24 simulated tank pressure 2023-03-11 11:50:20 +11:00
SIM_Invensense_v3.cpp SITL: use enumeration in place of O_RDWR for I2C register defs 2021-10-12 14:44:31 +11:00
SIM_Invensense_v3.h SITL: use enumeration in place of O_RDWR for I2C register defs 2021-10-12 14:44:31 +11:00
SIM_JEDEC.cpp SITL: allow JEDEC/RAMTRON to be compiled out 2022-01-15 13:50:21 +11:00
SIM_JEDEC.h SITL: allow JEDEC/RAMTRON to be compiled out 2022-01-15 13:50:21 +11:00
SIM_JEDEC_MX25L3206E.cpp SITL: allow JEDEC/RAMTRON to be compiled out 2022-01-15 13:50:21 +11:00
SIM_JEDEC_MX25L3206E.h SITL: allow JEDEC/RAMTRON to be compiled out 2022-01-15 13:50:21 +11:00
SIM_JSBSim.cpp SITL switched to motor_mask for which actuators are motors 2022-10-16 20:38:19 +11:00
SIM_JSBSim.h SITL: provide HAL_x_ENABLED for many SITL features 2021-10-12 09:04:55 +11:00
SIM_JSON.cpp SITL : correct comment spelling 2022-05-24 20:27:45 +09:00
SIM_JSON.h SITL: provide HAL_x_ENABLED for many SITL features 2021-10-12 09:04:55 +11:00
SIM_JSON_Master.cpp SITL : correct comment spelling 2022-05-24 20:27:45 +09:00
SIM_JSON_Master.h SITL : correct comment spelling 2022-05-24 20:27:45 +09:00
SIM_LORD.cpp Tools: autotest: add test for LORD EAHRS 2021-10-17 08:55:03 +11:00
SIM_LORD.h Tools: autotest: add test for LORD EAHRS 2021-10-17 08:55:03 +11:00
SIM_MS5XXX.cpp SITL: avoid use of stderr/::fprintf 2021-10-12 09:00:17 +11:00
SIM_MS5XXX.h SITL: nuke clang warnings 2022-03-03 16:34:14 +11:00
SIM_MS5525.cpp SITL: fixed up airspeed parameters 2022-05-17 19:34:32 +10:00
SIM_MS5525.h SITL: MS5XXX drivers use check_conversion_accuracy 2021-09-21 09:30:58 +10:00
SIM_MS5611.cpp SITL: permit double-precision maths in SITL even on embedded hardware 2022-03-17 14:39:55 +11:00
SIM_MS5611.h SITL: MS5XXX drivers use check_conversion_accuracy 2021-09-21 09:30:58 +10:00
SIM_MaxSonarI2CXL.h
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SIM_Morse.cpp SITL: provide HAL_x_ENABLED for many SITL features 2021-10-12 09:04:55 +11:00
SIM_Morse.h SITL: provide HAL_x_ENABLED for many SITL features 2021-10-12 09:04:55 +11:00
SIM_Motor.cpp SITL: Make Yaw control scale with aircraft size 2022-07-19 09:24:45 +10:00
SIM_Motor.h SITL: Make Yaw control scale with aircraft size 2022-07-19 09:24:45 +10:00
SIM_MotorBoat.h
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SIM_Multicopter.cpp SITL switched to motor_mask for which actuators are motors 2022-10-16 20:38:19 +11:00
SIM_Multicopter.h SITL switched to motor_mask for which actuators are motors 2022-10-16 20:38:19 +11:00
SIM_PS_LightWare.h SITL: tidy simulated proximity sensor constructors 2022-12-28 21:52:27 +11:00
SIM_PS_LightWare_SF45B.cpp SITL: correct PS_LightWare_SF45B simulator 2022-02-17 09:23:29 +11:00
SIM_PS_LightWare_SF45B.h SITL: tidy simulated proximity sensor constructors 2022-12-28 21:52:27 +11:00
SIM_PS_RPLidarA2.cpp SITL: provide HAL_x_ENABLED for many SITL features 2021-10-12 09:04:55 +11:00
SIM_PS_RPLidarA2.h SITL: tidy simulated proximity sensor constructors 2022-12-28 21:52:27 +11:00
SIM_PS_TeraRangerTower.cpp SITL: provide HAL_x_ENABLED for many SITL features 2021-10-12 09:04:55 +11:00
SIM_PS_TeraRangerTower.h SITL: tidy simulated proximity sensor constructors 2022-12-28 21:52:27 +11:00
SIM_Parachute.cpp
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SIM_Parachute.h
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SIM_Plane.cpp SITL: add synthetic current sensor,fix SITL current 2022-11-24 06:53:35 +11:00
SIM_Plane.h SITL: added plane-3d for aerobatic plane 2022-10-19 23:25:22 +11:00
SIM_Precland.cpp SITL: add param in SIM_Precland to enable return dist to target 2022-08-18 22:47:43 +10:00
SIM_Precland.h SITL: add param in SIM_Precland to enable return dist to target 2022-08-18 22:47:43 +10:00
SIM_QuadPlane.cpp SITL switched to motor_mask for which actuators are motors 2022-10-16 20:38:19 +11:00
SIM_QuadPlane.h SITL switched to motor_mask for which actuators are motors 2022-10-16 20:38:19 +11:00
SIM_RAMTRON.cpp SITL: allow JEDEC/RAMTRON to be compiled out 2022-01-15 13:50:21 +11:00
SIM_RAMTRON.h SITL: allow JEDEC/RAMTRON to be compiled out 2022-01-15 13:50:21 +11:00
SIM_RAMTRON_FM25V02.cpp SITL: allow JEDEC/RAMTRON to be compiled out 2022-01-15 13:50:21 +11:00
SIM_RAMTRON_FM25V02.h SITL: allow JEDEC/RAMTRON to be compiled out 2022-01-15 13:50:21 +11:00
SIM_RF_BLping.cpp
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SIM_RF_BLping.h
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SIM_RF_Benewake.cpp
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SIM_RF_Benewake.h
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SIM_RF_Benewake_TF02.h
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SIM_RF_Benewake_TF03.h
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SIM_RF_Benewake_TFmini.h
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SIM_RF_GYUS42v2.cpp
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SIM_RF_GYUS42v2.h
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SIM_RF_Lanbao.cpp
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SIM_RF_Lanbao.h
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SIM_RF_LeddarOne.cpp
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SIM_RF_LeddarOne.h
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SIM_RF_LightWareSerial.cpp SITL: LightwareSerial: return 130m when out-of-range-high 2021-11-23 18:20:58 +11:00
SIM_RF_LightWareSerial.h
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SIM_RF_LightWareSerialBinary.cpp
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SIM_RF_LightWareSerialBinary.h
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SIM_RF_MAVLink.cpp SITL/SIM_RF_MAVLink: fix incomplete initializer clauses 2022-07-01 18:24:43 +09:00
SIM_RF_MAVLink.h
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SIM_RF_MaxsonarSerialLV.cpp
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SIM_RF_MaxsonarSerialLV.h
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SIM_RF_NMEA.cpp SITL: NMEA Depthfinder add temperature simulation 2021-10-15 13:08:17 +11:00
SIM_RF_NMEA.h SITL: SITL SerialDevice optionally checks baudrates match 2022-09-28 20:53:34 +10:00
SIM_RF_TeraRanger_Serial.cpp SITL: add TeraRange Neo Rangefinder 2022-08-09 09:01:34 +10:00
SIM_RF_TeraRanger_Serial.h SITL: add TeraRange Neo Rangefinder 2022-08-09 09:01:34 +10:00
SIM_RF_USD1.cpp SITL: rename uLanding files to USD1 2021-10-26 15:31:12 +11:00
SIM_RF_USD1.h SITL: rename uLanding files to USD1 2021-10-26 15:31:12 +11:00
SIM_RF_USD1_v0.cpp SITL: rename uLanding files to USD1 2021-10-26 15:31:12 +11:00
SIM_RF_USD1_v0.h SITL: rename uLanding files to USD1 2021-10-26 15:31:12 +11:00
SIM_RF_USD1_v1.cpp SITL: rename uLanding files to USD1 2021-10-26 15:31:12 +11:00
SIM_RF_USD1_v1.h SITL: rename uLanding files to USD1 2021-10-26 15:31:12 +11:00
SIM_RF_Wasp.cpp
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SIM_RF_Wasp.h
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SIM_RGBLED.cpp SITL: add and use SIM_RGBLED 2023-02-28 10:24:43 +11:00
SIM_RGBLED.h SITL: add and use SIM_RGBLED 2023-02-28 10:24:43 +11:00
SIM_RichenPower.cpp SITL: SIM_RichenPower sets MaintenanceRequired error flag 2022-05-25 18:17:05 +10:00
SIM_RichenPower.h SITL: SIM_RichenPower sets MaintenanceRequired error flag 2022-05-25 18:17:05 +10:00
SIM_Rover.cpp SITL: constraint SITL rover to 360deg/s yaw rate on ackerman 2023-03-15 19:31:26 +11:00
SIM_Rover.h SITL: constraint SITL rover to 360deg/s yaw rate on ackerman 2023-03-15 19:31:26 +11:00
SIM_SMBusDevice.cpp SITL: use enumeration in place of O_RDWR for I2C register defs 2021-10-12 14:44:31 +11:00
SIM_SMBusDevice.h SITL: use enumeration in place of O_RDWR for I2C register defs 2021-10-12 14:44:31 +11:00
SIM_SPI.cpp SITL: allow JEDEC/RAMTRON to be compiled out 2022-01-15 13:50:21 +11:00
SIM_SPI.h SITL: add simulated SPI devices 2021-10-12 20:01:49 +11:00
SIM_SPIDevice.h SITL: add simulated SPI devices 2021-10-12 20:01:49 +11:00
SIM_Sailboat.cpp SITL: fixed sign of wind with AHRS_EKF_TYPE=10 and builtin models 2022-12-11 09:42:07 +11:00
SIM_Sailboat.h
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SIM_Scrimmage.cpp SITL: nuke clang warnings 2022-03-03 16:34:14 +11:00
SIM_Scrimmage.h SITL: nuke clang warnings 2022-03-03 16:34:14 +11:00
SIM_SerialDevice.cpp SITL: make serial buffer size configurable 2022-12-20 10:23:58 +11:00
SIM_SerialDevice.h SITL: make serial buffer size configurable 2022-12-20 10:23:58 +11:00
SIM_SerialProximitySensor.cpp SITL: add SIM_SONAR_ROT, use it for measuring horizontal distances 2022-04-19 10:26:10 +10:00
SIM_SerialProximitySensor.h SITL: add SIM_SONAR_ROT, use it for measuring horizontal distances 2022-04-19 10:26:10 +10:00
SIM_SerialRangeFinder.cpp SITL: make C_TO_KELVIN a function macro; create KELVIN_TO_C 2022-01-13 18:31:46 +11:00
SIM_SerialRangeFinder.h SITL: NMEA Depthfinder add temperature simulation 2021-10-15 13:08:17 +11:00
SIM_Ship.cpp SITL: don't use adjusted terrain in SITL 2022-03-28 16:01:21 +11:00
SIM_Ship.h SITL: added ship offset and ATTITUDE 2022-03-10 07:34:20 +11:00
SIM_SilentWings.cpp SITL: fix executable permission and trailing whitespace 2022-06-08 08:16:42 +09:00
SIM_SilentWings.h SITL: fix executable permission and trailing whitespace 2022-06-08 08:16:42 +09:00
SIM_SingleCopter.cpp SITL: added is_lock_step_scheduled() API 2021-05-24 20:13:37 +10:00
SIM_SingleCopter.h
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SIM_Sprayer.cpp
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SIM_Sprayer.h
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SIM_Submarine.cpp SITL: correct submarine rangefinding 2021-12-11 20:10:10 +11:00
SIM_Submarine.h SITL: permit double-precision maths in SITL even on embedded hardware 2022-03-17 14:39:55 +11:00
SIM_Temperature_MCP9600.cpp SITL: add simulated MCP9600 2021-10-19 08:15:00 +11:00
SIM_Temperature_MCP9600.h SITL: nuke clang warnings 2022-03-03 16:34:14 +11:00
SIM_Temperature_TSYS01.cpp SITL: TSYS01 add sim temperature based on altitude 2022-10-18 10:05:31 +11:00
SIM_Temperature_TSYS01.h SITL: TSYS01 add sim temperature based on altitude 2022-10-18 10:05:31 +11:00
SIM_ToneAlarm.cpp
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SIM_ToneAlarm.h
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SIM_ToshibaLED.cpp SITL: add and use SIM_RGBLED 2023-02-28 10:24:43 +11:00
SIM_ToshibaLED.h SITL: add and use SIM_RGBLED 2023-02-28 10:24:43 +11:00
SIM_Tracker.cpp
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SIM_Tracker.h
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SIM_VectorNav.cpp SITL: VectorNav: update simulated VN-300 for new packet type 2023-01-03 10:32:20 +11:00
SIM_VectorNav.h SITL: VectorNav: update simulated VN-300 for new packet type 2023-01-03 10:32:20 +11:00
SIM_Vicon.cpp SITL: vicon odometry corrected 2022-11-28 17:21:23 +11:00
SIM_Vicon.h SITL: support simulation of ODOMETRY message 2021-12-27 12:32:41 +11:00
SIM_Webots.cpp WEBOTS_SITL: adjust_params model 2021-11-16 13:30:12 +11:00
SIM_Webots.h SITL: provide HAL_x_ENABLED for many SITL features 2021-10-12 09:04:55 +11:00
SIM_Webots_Python.cpp SITL: Add Webots 2023a support and examples 2023-01-22 18:19:38 +11:00
SIM_Webots_Python.h SITL: Add Webots 2023a support and examples 2023-01-22 18:19:38 +11:00
SIM_XPlane.cpp SITL: fixed orientation of XPlane11 gyro data 2023-02-20 06:59:13 +11:00
SIM_XPlane.h SITL: new XPlane backend 2023-01-31 11:22:08 +11:00
SIM_last_letter.cpp SITL: provide HAL_x_ENABLED for many SITL features 2021-10-12 09:04:55 +11:00
SIM_last_letter.h SITL: provide HAL_x_ENABLED for many SITL features 2021-10-12 09:04:55 +11:00
SITL.cpp SITL: add support for auxiliary IMUs 2023-03-21 10:04:16 +11:00
SITL.h SITL: add support for auxiliary IMUs 2023-03-21 10:04:16 +11:00
SITL_Input.h SITL: move to 32 servo outs 2022-05-22 12:07:37 +10:00
picojson.cpp SITL: new XPlane backend 2023-01-31 11:22:08 +11:00
picojson.h SITL: prevent a conflict with a _serialize() macro on cygwin 2023-03-15 19:32:22 +11:00